@article{generalizedoptimalityguaranteesforsolvin,
  title = {Optimality Guarantees for Particle Belief Approximation of POMDPs},
  author = {Michael H. Lim and Tyler J. Becker and Mykel J. Kochenderfer and Claire J. Tomlin and Zachary N. Sunberg},
  year = {2022},
  eprint = {2210.05015},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2210.05015v5},
}